Robot particle implantation actuator capable of rapidly replacing needle

Abstract

The invention discloses a robot particle implantation actuator capable of rapidly replacing needles, and belongs to the field of medical robots. The problems that an existing particle implantation actuator is inconvenient in needle replacement and mostly does not have a puncture function, and the operation efficiency is affected are solved. The device comprises a shell, an outer needle assembly, an inner needle assembly, a quick release flange, a sensor assembly, a magnetic positioning block and an inner and outer needle assembly transmission mechanism, the top of the inner and outer needle assembly transmission mechanism is provided with a quick-release flange used for being in butt joint with a mechanical arm. The inner and outer needle assembly transmission mechanism is used for the movement of the outer needle assembly and the inner needle assembly, puncturing a cannula outer needle embedded with a puncture inner needle into a human body, replacing an implantation inner needle, sending the implantation inner needle in the inner needle assembly into the particle bin, pushing radioactive particles in the particle bin to the cannula outer needle, and pushing the radioactive particles out of the cannula outer needle; the inner-outer needle assembly is arranged at the lower end of the machine shell and fixedly connected to the bottom of the inner-outer needle assembly transmission mechanism through a magnetic positioning block. The device is mainly used for percutaneous puncture and implantation of radioactive particles.

Description

Technical Field

[0001] The invention relates to an end effector of a medical robot and belongs to the field of medical robots. Background Art

[0002] With the development of robotics technology, the application of robots in the medical field has also developed rapidly, especially in the field of surgery. The specialization of medical robots has also become a development trend. Surgeons can use robots to assist in surgery, which can greatly improve surgical accuracy and efficiency.

[0003] Particle implantation for tumor brachytherapy is becoming more and more popular, but most hospitals still use traditional manual operation to perform particle implantation surgery, which is inefficient, inaccurate, and time-consuming. Although there are currently robot-assisted particle implantation methods, it is not convenient to change needles and magazines, and generally does not have the function of puncture. The positioning operation interaction is cumbersome, which affects the accuracy and efficiency of the execution, thereby affecting the efficiency of the entire particle implantation surgery. Therefore, the above problems need to be solved urgently. Summary of the invention

[0004] The purpose of the present invention is to solve the problem that the existing particle implantation actuators are not convenient for changing needles and particle cartridges, and most of them do not have puncture functions, and the positioning operation interaction is relatively cumbersome, which affects the accuracy and efficiency of the execution, thereby affecting the efficiency of the entire particle implantation operation. The present invention provides a robotic particle implantation actuator that can quickly change needles.

[0005] A robot particle implantation actuator capable of quickly changing needles comprises a casing, an outer needle assembly, an inner needle assembly, a quick-release flange, a sensor assembly, a magnetic positioning block, and an inner and outer needle assembly transmission mechanism.

[0006] The inner and outer needle assembly transmission mechanism and the sensor assembly are encapsulated in the casing; and a quick-release flange is provided on the top of the inner and outer needle assembly transmission mechanism for docking with the robotic arm; the quick-release flange includes a first flange and a second flange, the first flange is located inside the casing and fixedly connected to the actuator, and the second flange is located outside the casing and fixedly connected to the robotic arm.

[0007] The inner and outer needle assembly transmission mechanism is used for the movement of the outer needle assembly and the inner needle assembly, puncturing the outer needle of the cannula with the embedded puncture inner needle into the human body, replacing the implanted inner needle, and sending the implanted inner needle in the inner needle assembly into the particle bin, pushing the radioactive particles in the particle bin to the outer needle of the cannula, and pushing them out of the outer needle of the cannula.

[0008] The sensor assembly is used to obtain an image in front of the actuator and a distance from the skin, and is also used to mark a puncture point.

[0009] The outer needle assembly is arranged at the lower end of the casing, is used to install the particle bin and the puncture outer needle, and is fixedly connected to the bottom of the inner and outer needle assembly transmission mechanism through a magnetic positioning block.

[0010] The inner needle assembly is arranged at the lower end of the casing, and is used for installing the puncture inner needle and the implantation inner needle, and is fixedly connected to the bottom of the inner and outer needle assembly transmission mechanism through a magnetic positioning block.

[0011] Preferably, the inner and outer needle assembly transmission mechanism includes a first frame, a second frame, a first screw transmission assembly, a second screw transmission assembly, a first transmission plate, a second transmission plate, a first drive motor and a second drive motor.

[0012] The tail end of the first frame is connected to the head end of the second frame and is fixed via a screw support seat; a bearing is installed on the inner side of the head end of the first frame.

[0013] The first screw transmission assembly and the second screw transmission assembly are arranged in parallel, and the fixed ends of the two screws are fixed on the screw support seat; the support end is fixed on the bearing at the head end of the first frame; and a screw nut is provided for each screw.

[0014] The screw nut in the screw transmission assembly is fixedly connected to the first transmission plate and the second transmission plate respectively, the first transmission plate is located in front of the second transmission plate, and the first transmission plate and the first screw transmission assembly are slidably connected through a shaft sleeve, and the second transmission plate and the second screw transmission assembly are slidably connected through a shaft sleeve; the first magnet is fixedly installed on the bottom of the transmission plate.

[0015] A first slide is opened on the right side of the bottom of the first frame, and a second slide is opened on the left side. A first limit switch is fixedly installed on the middle of the first slide by screws, and a second limit switch is fixedly installed on the tail of the second slide by screws; they are used to limit the movement range of the first transmission plate and the second transmission plate in the first frame.

[0016] Preferably, a second magnet is installed on the top of the outer needle assembly and the inner needle assembly, the outer needle assembly is fixedly connected to the first transmission plate via a magnetic positioning block, and the inner needle assembly is fixedly connected to the second transmission plate via a magnetic positioning block.

[0017] The bottom of the second transmission plate and the top of the inner needle slider match the magnetic positioning block in a square shape. A first gap is left between the first magnet and the third magnet, and a second gap is left between the third magnet and the second magnet to prevent the magnets from cracking, and the first gap is the same as the second gap.

[0018] The magnetic pole directions of the first magnet, the second magnet and the magnetic positioning block are consistent, and the magnetic force of the first magnet is greater than that of the second magnet.

[0019] Preferably, the outer needle assembly includes a cannula outer needle, a needle support sleeve, an outer needle clamping block, a particle bin, a second magnet and a ball plunger.

[0020] The particle bin is installed on the outer needle assembly through the slot on the side of the outer needle clamping block. The particle bin has two through holes, namely the first through hole and the second through hole, and two conical pits are provided at the bottom of the corresponding through holes, namely the first pit and the second pit.

[0021] The ball plunger at the bottom of the outer needle clamping block presses against the pit at the bottom of the particle bin to fix the particle bin in the outer needle clamping block, and the axis of the particle bin through hole coincides with the axis of the inner needle through hole of the outer needle clamping block.

[0022] When the particle bin is fixed to the outer needle clamping block through the first pit, the axis of the first through hole of the particle bin coincides with the axis of the inner needle through hole of the outer needle clamping block, which is the first working position of the outer needle assembly; when the particle bin is fixed to the outer needle clamping block through the second pit, the axis of the second through hole of the particle bin coincides with the axis of the inner needle through hole of the outer needle clamping block, which is the second working position of the outer needle assembly.

[0023] The first through hole of the particle bin is an independent through hole, the second through hole contains radioactive particles, and the first through hole is larger than the second through hole.

[0024] Preferably, the sensor assembly includes a camera mount, a camera, a range sensor, a laser mount, a first laser, a second laser and a needle mounting block.

[0025] The first laser and the second laser are arranged parallel to the needle axis of the outer needle of the sleeve and fixedly installed in the straight hole of the laser fixture. The laser axis and the needle axis axis form an isosceles triangle layout with the needle axis as the vertex.

[0026] The laser lines emitted by the first laser and the second laser are in a straight line, the straight lasers cross vertically, and the intersection line is the axis of the needle shaft; the vertically crossed laser beams form an intersection on the skin surface, and this intersection is located on the axis of the needle shaft.

[0027] The needle support sleeve in the outer needle assembly is fixedly installed in the semicircular hole of the needle support mounting block to ensure that the intersection line of the first laser and the second laser coincides with the needle axis.

[0028] The camera is fixedly mounted on the front end surface of the frame through a camera mounting member, and presents an image of the positional relationship between the puncture needle and the laser intersection.

[0029] The distance measuring sensor is fixedly mounted on the front end of the laser mounting component to measure the distance from the front end surface of the actuator to the skin surface.

[0030] The beneficial effects brought by the present invention are: The present invention designs a robot particle implantation actuator that can be used at the end of the particle implantation robot and can quickly change needles. The actuator is used in conjunction with a mechanical arm through a quick-change flange to achieve human puncture and implantation of radioactive particles. The actuator facilitates interactive operation during the puncture process, has accurate position feedback, improves puncture accuracy, and can quickly replace internal and external needle components, shortening the operation time and improving efficiency. The entire end actuator of the present invention has the characteristics of high working efficiency, high precision, and easy interactive operation. BRIEF DESCRIPTION OF THE DRAWINGS

[0031] In order to more clearly illustrate the embodiments of the present invention or the technical solutions in the prior art, the drawings required for use in the embodiments or the description of the prior art will be briefly introduced below. Obviously, the drawings in the following description are only some embodiments recorded in the embodiments of the present invention. For those skilled in the art, other drawings can also be obtained based on these drawings. Figure 1 This is a schematic diagram of the three-dimensional structure of a robot particle implantation actuator capable of rapid needle exchange according to the present invention; Figure 2 for Figure 1 A schematic diagram of the structure after the casing 1 is removed; Figure 3 for Figure 1 A schematic diagram of the three-dimensional structure viewed from the lower left of the actuator after the housing 1 is removed; Figure 4 for Figure 3 The cross-sectional view in the AA direction; Figure 5 for Figure 3 The cross-sectional view in the BB direction; Figure 6 for Figure 3 Sectional view in CC direction; Figure 7 for Figure 6 A partial enlarged view of Figure 8 for Figure 1 A schematic diagram of the three-dimensional structure viewed from the front to the rear of the actuator after the housing 1 is removed; Fig. 9 This is a schematic diagram of the principle of the use of the robotic particle implantation actuator with rapid needle exchange described in the invention in conjunction with a robotic arm.

[0032] Specific implementation methods.

[0033] Of course, implementing any technical solution of the embodiment of the present invention does not necessarily need to achieve all of the above advantages at the same time.

[0034] In order to enable those skilled in the art to better understand the technical solutions in the embodiments of the present invention, the technical solutions in the embodiments of the present invention will be clearly and completely described below in conjunction with the drawings in the embodiments of the present invention. Obviously, the described embodiments are only part of the embodiments of the present invention, not all of the embodiments. All other embodiments obtained by ordinary technicians in the field based on the embodiments in the embodiments of the present invention should fall within the scope of protection of the embodiments of the present invention.

[0035] Specific implementation method 1: The following is combined Figure 1 and Figure 2 The present embodiment is described as a robotic particle implantation actuator with rapidly replaceable needles, comprising a housing 1, an outer needle assembly 2, an inner needle assembly 3, a quick-release flange 4, a sensor assembly 5, a magnetic positioning block 6, an inner and outer needle assembly transmission mechanism 7, and a wire outlet 8.

[0036] The inner and outer needle assembly transmission mechanism 7 and the sensor assembly 5 are encapsulated in the housing 1; and a quick-release flange 4 is provided on the top of the inner and outer needle assembly transmission mechanism 7 for docking with the robotic arm; the quick-release flange 4 includes a first flange 4-1 and a second flange 4-2, the first flange 4-1 is located outside the housing 1 and is fixedly connected to the robotic arm, and the second flange 4-2 is located inside the housing 1 and is fixedly connected to the actuator.

[0037] The inner and outer needle assembly transmission mechanism 7 is used for the movement of the outer needle assembly 2 and the inner needle assembly 3, puncturing the outer needle 2-1 with the embedded puncture inner needle cannula into the human body, replacing the implanted inner needle 3-1, and sending the implanted inner needle 3-1 in the inner needle assembly 3 into the particle bin 2-4, pushing the radioactive particles in the particle bin 2-4 to the cannula outer needle 2-1, and pushing them out of the cannula outer needle 2-1.

[0038] The sensor assembly 5 is used to obtain the image in front of the actuator and the distance between the needle tip and the skin, and is also used to mark the puncture point.

[0039] The outer needle assembly 2 is arranged at the lower end of the casing 1, and is used to install the particle bin 2-4 and the cannula outer needle 2-1, and is fixedly connected to the bottom of the inner and outer needle assembly transmission mechanism 7 through a magnetic positioning block 6.

[0040] The inner needle assembly 3 is arranged at the lower end of the housing 1 for mounting the inner needle 3 - 1 , and is fixedly connected to the bottom of the inner and outer needle assembly transmission mechanism 7 via a magnetic positioning block 6 .

[0041] This embodiment provides a robot particle implantation actuator capable of rapid needle exchange, which is used in conjunction with a robotic arm. Fig. 9, to achieve puncture and implantation of radioactive particles. The actuator has a compact structure and is easy to be mounted on a robotic arm for operation, which improves flexibility and puncture accuracy. The inner needle assembly 2 and the outer needle assembly 3 are fixed to the actuator through a magnetic positioning block 6, and the inner and outer needle assemblies can be quickly replaced, which improves the efficiency of particle implantation surgery and reduces medical risks.

[0042] For further details, see Figure 2 and Figure 3 The inner and outer needle assembly transmission mechanism 7 includes a first frame 7-1, a first limit switch 7-2, a second limit switch 7-3, a second frame 7-4, a first screw transmission assembly 7-5, a second screw transmission assembly 7-6, a first transmission plate 7-7 and a second transmission plate 7-8; the first screw transmission assembly 7-5 includes a first drive motor 7-5-1, a first coupling 7-5-2, a first screw support seat 7-5-3, a first sleeve 7-5-4, a first screw 7-5-5, a first screw nut 7-5-6 and a first bearing 7-5-7; the second screw transmission assembly 7-6 includes a second drive motor 7-6-1, a second coupling 7-6-2, a second screw support seat 7-6-3, a second screw nut 7-6-4, a second screw 7-6-5, a second sleeve 7-6-6 and a second bearing 7-6-7.

[0043] The tail end of the first frame 7-1 is connected to the head end of the second frame 7-4 and is fixed by a first screw support seat 7-5-3 and a second screw support seat 7-6-3; a first bearing 7-5-7 and a second bearing 7-6-7 are installed on the inner side of the head end of the first frame.

[0044] The first screw transmission assembly 7-5 and the second screw transmission assembly 7-6 are arranged in parallel, and the fixed ends of the first screw 7-5-5 and the second screw 7-6-5 are respectively fixed on the first screw support seat 7-5-3 and the second screw support seat 7-6-3; the supporting ends are fixed on the first bearing 7-5-7 and the second bearing 7-6-7 inside the head end of the first frame 7-1; the first screw 7-5-5 is provided with a first screw nut 7-5-6, and the second screw 7-6-5 is provided with a second screw nut 7-6-4; the first screw nut 7-5-6 is at the front end of the second screw nut 7-6-4.

[0045] The first lead screw nut 7-5-6 is fixedly connected to the first transmission plate 7-7, the second lead screw nut 7-6-4 is fixedly connected to the second transmission plate 7-8, the first transmission plate 7-7 and the second lead screw 7-6-5 are slidingly connected via the second sleeve 7-6-6, the second transmission plate 7-8 and the first lead screw 7-5-5 are slidingly connected via the first sleeve 7-5-4; the first magnet 7-9 is fixedly installed in the circular holes at the bottom of the first transmission plate 7-7 and the second transmission plate 7-8.

[0046] A first slide is provided on the right side of the bottom of the first frame 7-1, and a second slide is provided on the left side. A first limit switch 7-2 is fixedly installed on the middle of the first slide by screws, and a second limit switch 7-3 is fixedly installed on the tail of the second slide by screws; the two limit switches are used to limit the movement range of the first transmission plate 7-7 and the second transmission plate 7-8 in the first frame 7-1.

[0047] In the preferred embodiment, a specific structure of the inner and outer needle assembly transmission mechanism 7 is provided. In specific application, the first drive motor 7-5-1 drives the first screw 7-5-5 to rotate through the first coupling 7-5-2, thereby driving the first transmission plate 7-7 to move forward and backward; the second drive motor 7-6-1 drives the second screw 7-6-5 to rotate through the second coupling 7-6-2, thereby driving the second transmission plate 7-8 to move forward and backward; by controlling the rotation direction of the first drive motor 7-5-1 and the second drive motor 7-6-1, the first transmission plate 7-7 and the second transmission plate 7-8 can move in the same direction with a fixed spacing, which is used for the puncture process; the first transmission plate 7-7 is fixed, and the second transmission plate 7-8 moves in a fixed distance forward and backward cycle, which is used for particle implantation; while ensuring the puncture and particle implantation functions, the structure is more compact and reliable.

[0048] For further details, see Figure 4 A second magnet 3-3 is installed on the top of the outer needle assembly 2 and the inner needle assembly 3. The outer needle assembly 2 is fixedly connected to the first transmission plate 7-7 through a magnetic positioning block 6, and the inner needle assembly 3 is fixedly connected to the second transmission plate 7-8 through a magnetic positioning block 6.

[0049] The bottom of the second transmission plate 7-8 and the top of the inner needle slider 3-2 cooperate with the magnetic positioning block 6 in a square shape. A first gap is left between the first magnet 7-9 and the third magnet 6-2, and a second gap is left between the third magnet 6-2 and the second magnet 3-3 to prevent the magnets from cracking, and the first gap is the same as the second gap.

[0050] The magnetic pole directions of the first magnet 7-9, the second magnet 3-3 and the third magnet 6-2 in the magnetic positioning block 6 are consistent, and the magnetic force of the first magnet 7-9 is greater than that of the second magnet 3-3, forming a magnetic force difference.

[0051] In the preferred embodiment, a specific structure is provided for installing the outer needle assembly 2 and the inner needle assembly 3 on the inner and outer needle transmission assembly 7. In specific application, the magnetic positioning block 6 is fixed on the inner and outer needle transmission assembly 7 by means of square grooves and magnetic force, and the outer needle assembly 2 and the inner needle assembly 3 are fixed on the magnetic positioning block 6 by means of square grooves and magnetic force, and the attraction is firm and reliable; and the magnetic force between the first magnet 7-9 and the third magnet 6-2 is greater than the magnetic force between the second magnet 3-3 and the third magnet 6-2. When the inner and outer needle assemblies are removed, it can be ensured that while the inner and outer needle assemblies fall off, the magnetic positioning block 6 is still intactly fixed on the inner and outer needle transmission assembly 7, thereby realizing rapid installation and disassembly of the inner and outer needle assemblies, and the positioning is accurate and reliable, shortening the needle change time and improving the surgical efficiency.

[0052] For further details, see Figure 5-Figure 7 The outer needle assembly 2 includes a cannula outer needle 2-1, a needle support sleeve 2-2, an outer needle clamping block 2-3, a particle bin 2-4, a second magnet 2-5, and a ball head plunger 2-6.

[0053] The particle bin 2-4 is installed on the outer needle assembly 2 through the slot on the side of the outer needle clamping block 2-3. The particle bin 2-4 has two through holes, namely the first through hole and the second through hole. Two conical pits are provided at the bottom of the corresponding through holes, namely the first pit and the second pit. Figure 7 .

[0054] The ball plunger 2-6 at the bottom of the outer needle clamping block 2-3 presses against the pit at the bottom of the particle bin 2-4 to fix the particle bin 2-4 in the outer needle clamping block 2-3, and the axis of the particle bin 2-4 through hole coincides with the axis of the inner needle through hole of the outer needle clamping block 2-3.

[0055] When the particle bin 2-4 is fixed to the outer needle clamping block 2-3 through the first pit, the axis of the first through hole of the particle bin 2-4 coincides with the axis of the inner needle through hole of the outer needle clamping block 2-3, which is the first working position of the outer needle assembly 2; when the particle bin 2-4 is fixed to the outer needle clamping block 2-3 through the second pit, the axis of the second through hole of the particle bin 2-4 coincides with the axis of the inner needle through hole of the outer needle clamping block 2-3, which is the second working position of the outer needle assembly 2.

[0056] The first via hole of the particle bin 2 - 4 is an independent via hole, the second via hole contains radioactive particles, and the size of the first via hole is larger than that of the second via hole.

[0057] In the present preferred embodiment, a specific structure is provided in which the particle bin 2-4 is fixed on the outer needle clamping block 2-3. The dual-station function of the outer needle assembly 2 is realized by the different fixed positions of the first pit and the second pit on the particle bin 2-4. The first station of the outer needle assembly 2 is the actuator puncture station, and the second station of the outer needle assembly 2 is the actuator particle implantation station. Thus, the switching between the actuator puncture and particle implantation modes can be completed by switching the stations of the outer needle assembly 2 without disassembling the particle magazine, thereby improving the surgical efficiency.

[0058] For further details, see Figure 8 The sensor assembly 5 includes a camera mounting component 5-1, a camera 5-2, a distance measuring sensor 5-3, a laser mounting component 5-4, a first laser 5-5, a second laser 5-6, and a needle mounting block 5-7.

[0059] The first laser 5-5 and the second laser 5-6 are arranged parallel to the needle axis of the outer needle 2-1 of the cannula and fixedly installed in the straight hole of the laser mounting member 5-4, and the laser axis and the needle axis axis form an isosceles triangle layout with the needle axis as the vertex.

[0060] The laser lines emitted by the first laser 5-5 and the second laser 5-6 are in a straight line, the straight lasers cross vertically, and the intersection line is the axis of the needle shaft; the vertically crossed laser beams form an intersection on the skin surface, and this intersection is located on the axis of the needle shaft.

[0061] The needle support sleeve 2-2 in the outer needle assembly 2 is fixedly installed in the semicircular hole of the needle support mounting block 5-7 to ensure that the intersection line of the first laser 5-5 and the second laser 5-6 coincides with the needle axis.

[0062] The camera 5-2 is fixedly mounted on the front end surface of the frame 7-1 through the camera mounting member 5-1, and presents an image of the positional relationship between the puncture needle and the laser intersection.

[0063] The distance measuring sensor 5-3 is fixedly mounted on the front end of the laser mounting member 5-4 to measure the distance from the front end surface of the actuator to the skin surface.

[0064] In this preferred embodiment, a specific structure is provided in which the lasers emitted by the first laser 5-5 and the second laser 5-6 cross on the needle axis, the laser lines make puncture aiming marks on the target point, and the camera 5-2 is used to obtain the field of view at the target point, and the position of the actuator is obtained by the ranging sensor 5-3, thereby realizing the puncture aiming function of the actuator, providing a hardware basis for subsequent remote operation for puncture and particle implantation.

[0065] Principle analysis.

[0066] The specific process of realizing the station switching of the outer needle assembly 2 is as follows.

[0067] When the particle bin 2-4 is in the first station, push the particle bin 2-4 inward, fix it through the second pit, and switch to the second station; when the particle bin 2-4 is in the second station, pull the particle bin 2-4 outward, vault it through the first pit, and switch to the first station.

[0068] The specific process of realizing the puncture movement is as follows.

[0069] Switch the outer needle assembly 2 to the first working position, so that the first drive motor 7-5-1 drives the outer needle assembly 2 installed on the first transmission plate 7-7 to move to the first limit switch 7-2 through the first screw transmission assembly 7-5, and the second drive motor 7-6-1 drives the inner needle assembly 3 installed on the second transmission plate 7-8 to move to the second limit switch 7-3 through the second screw transmission assembly 7-6, and restores to the initial movement position; the first drive motor 7-5-1 is stationary, and the second drive motor 7-5-2 rotates forward to drive the inner needle assembly 3 to move forward, and the puncture inner needle 3-1 installed on the inner needle assembly 3 is sent into the cavity of the outer needle 2-1 of the sleeve through the outer needle assembly 2, and the needle tip extends out of the outer needle by a certain distance; the motor rotates forward to drive the outer needle assembly 2 and the inner needle assembly 3 to move forward synchronously for puncture.

[0070] 3. The specific process of realizing particle implantation movement is as follows.

[0071] The first drive motor 7-5-1 is in a non-working state, and the second drive motor 7-6-1 reverses to drive the inner needle assembly 3 to move backward to the second limit switch 7-3, and replace the inner needle assembly 3. At the same time, the outer needle assembly 2 is switched to the second working position, and the puncture inner needle is replaced with the implantation inner needle. The second drive motor 7-6-1 rotates forward to drive the inner needle assembly 3 to move forward. The needle tip of the implantation inner needle 3-2 pushes the radioactive particles in the particle bin 2-4 into the inner cavity of the outer needle 2-1 of the cannula, and continues to push it out of the outer needle 2-1 of the cannula to the patient's lesion, thereby implanting a radioactive particle.

[0072] The specific process of realizing the rapid disassembly and assembly of the outer needle assembly 2 and the inner needle assembly 3 is as follows.

[0073] First, pull the outer needle 2-1 of the cannula forward from the outer needle clamping block 2-3, pull the supporting needle sleeve 2-2 downward from the supporting needle mounting block 5-7, and simultaneously remove the outer needle 2-1 and the supporting needle sleeve 2-2 of the cannula. Pinch the outer needle clamping block 2-3 and the inner needle clamping block 3-2 and pull them downward to remove the outer needle assembly 2 and the inner needle assembly 3 from the magnetic positioning block 6; install the outer needle clamping block 2-3 and the inner needle clamping block 3-2 upward in the inner slot of the magnetic positioning block 6 to complete the installation of the outer needle assembly 2 and the inner needle assembly 3; the disassembly and assembly of the inner and outer needle assemblies can be quickly completed by simple pushing and pulling.

[0074] Although the present invention is described herein with reference to specific embodiments, it should be understood that these embodiments are merely examples of the principles and applications of the present invention. It should therefore be understood that many modifications may be made to the exemplary embodiments and that other arrangements may be devised without departing from the spirit and scope of the present invention as defined by the appended claims. It should be understood that the various dependent claims and features described herein may be combined in a manner different from that described in the original claims. It should also be understood that features described in conjunction with individual embodiments may be used in other described embodiments.

Claims

1. A robotic particle implantation actuator capable of rapid needle exchange, characterized in that: It comprises a housing (1), an outer needle assembly (2), an inner needle assembly (3), a quick-release flange (4), a sensor assembly (5), a magnetic positioning block (6) and an inner and outer needle assembly transmission mechanism (7); The inner and outer needle assembly transmission mechanism (7) and the sensor assembly (5) are encapsulated in a housing (1); a quick-release flange (4) is provided on the top of the inner and outer needle assembly transmission mechanism (7) for docking with a mechanical arm; the quick-release flange (4) comprises a first flange (4-1) and a second flange (4-2); the first flange (4-1) is located outside the housing (1) and fixedly connected to the mechanical arm, and the second flange (4-2) is located inside the housing (1) and fixedly connected to the actuator; The inner and outer needle assembly transmission mechanism (7) is used for the movement of the outer needle assembly (2) and the inner needle assembly (3), puncturing the outer needle (2-1) with the puncture inner needle cannula embedded therein into the human body, replacing the implanted inner needle (3-1), and sending the implanted inner needle (3-1) in the inner needle assembly (3) into the particle chamber (2-4), pushing the radioactive particles in the particle chamber (2-4) to the cannula outer needle (2-1), and pushing them out of the cannula outer needle (2-1); The sensor assembly (5) is used to obtain an image in front of the actuator and the distance between the needle tip and the skin, and is also used to mark the puncture point; The outer needle assembly (2) is arranged at the lower end of the housing (1) and is used to install the particle bin (2-4) and the cannula outer needle (2-1), and is fixedly connected to the bottom of the inner and outer needle assembly transmission mechanism (7) via a magnetic positioning block (6); The inner needle assembly (3) is arranged at the lower end of the housing (1) and is used to install the inner needle (3-1), and is fixedly connected to the bottom of the inner and outer needle assembly transmission mechanism (7) via a magnetic positioning block (6).

2. A robotic particle implantation actuator capable of rapid needle exchange according to claim 1, characterized in that: The inner and outer needle assembly transmission mechanism (7) comprises a first frame (7-1), a first limit switch (7-2), a second limit switch (7-3), a second frame (7-4), a first screw transmission assembly (7-5), a second screw transmission assembly (7-6), a first transmission plate (7-7) and a second transmission plate (7-8); the first screw transmission assembly (7-5) comprises a first drive motor (7-5-1), a first coupling (7-5-2), a first screw support seat (7-5 -3), a first sleeve (7-5-4), a first lead screw (7-5-5), a first lead screw nut (7-5-6) and a first bearing (7-5-7); the second lead screw transmission assembly (7-6) includes a second drive motor (7-6-1), a second coupling (7-6-2), a second lead screw support seat (7-6-3), a second lead screw nut (7-6-4), a second lead screw (7-6-5), a second sleeve (7-6-6) and a second bearing (7-6-7); The tail end of the first frame (7-1) is connected to the head end of the second frame (7-4) and is fixed via a first screw support seat (7-5-3) and a second screw support seat (7-6-3); a first bearing (7-5-7) and a second bearing (7-6-7) are installed on the inner side of the head end of the first frame; The first lead screw transmission assembly (7-5) and the second lead screw transmission assembly (7-6) are arranged in parallel, and the fixed ends of the first lead screw (7-5-5) and the second lead screw (7-6-5) are respectively fixed on the first lead screw support seat (7-5-3) and the second lead screw support seat (7-6-3); the supporting ends are fixed on the first bearing (7-5-7) and the second bearing (7-6-7) inside the head end of the first frame (7-1); the first lead screw (7-5-5) is provided with a first lead screw nut (7-5-6), and the second lead screw (7-6-5) is provided with a second lead screw nut (7-6-4); the first lead screw nut (7-5-6) is at the front end of the second lead screw nut (7-6-4); The first lead screw nut (7-5-6) is fixedly connected to a first transmission plate (7-7), the second lead screw nut (7-6-4) is fixedly connected to a second transmission plate (7-8), the first transmission plate (7-7) and the second lead screw (7-6-5) are slidably connected via a second shaft sleeve (7-6-6), and the second transmission plate (7-8) and the first lead screw (7-5-5) are slidably connected via a first shaft sleeve (7-5-4); first magnets (7-9) are fixedly installed in the circular holes at the bottom of the first transmission plate (7-7) and the second transmission plate (7-8); A first slideway is provided on the right side of the bottom of the first frame (7-1), and a second slideway is provided on the left side; a first limit switch (7-2) is fixedly installed in the middle of the first slideway by means of screws, and a second limit switch (7-3) is fixedly installed in the tail of the second slideway by means of screws; the limit switches are used to limit the range of motion of the first transmission plate (7-7) and the second transmission plate (7-8) in the first frame (7-1).

3. The robot particle implantation actuator capable of rapid needle exchange according to claim 1, characterized in that: A second magnet (3-3) is mounted on the top of the outer needle assembly (2) and the inner needle assembly (3); the outer needle assembly (2) is fixedly connected to the first transmission plate (7-7) via a magnetic positioning block (6); and the inner needle assembly (3) is fixedly connected to the second transmission plate (7-8) via a magnetic positioning block (6); The bottom of the second transmission plate (7-8) and the top of the inner needle slider (3-2) matching the magnetic positioning block (6) are square, a first gap is left between the first magnet (7-9) and the third magnet (6-2), and a second gap is left between the third magnet (6-2) and the second magnet (3-3) to prevent the magnets from being cracked, and the first gap is the same as the second gap; The magnetic pole directions of the first magnet (7-9), the second magnet (3-3) and the third magnet (6-2) in the magnetic positioning block (6) are consistent, and the magnetic force of the first magnet (7-9) is greater than that of the second magnet (3-3), thereby forming a magnetic force difference.

4. The robot particle implantation actuator capable of rapid needle exchange according to claim 1, characterized in that: The outer needle assembly (2) comprises a cannula outer needle (2-1), a needle support sleeve (2-2), an outer needle clamping block (2-3), a particle bin (2-4), a second magnet (2-5) and a ball plunger (2-6); The particle bin (2-4) is installed on the outer needle assembly (2) through a slot hole on the side of the outer needle clamping block (2-3); the particle bin (2-4) has two through holes, namely a first through hole and a second through hole; and two conical pits are provided at the bottom of the corresponding through holes, namely a first pit and a second pit; The ball plunger (2-6) at the bottom of the outer needle clamping block (2-3) presses against the concave pit at the bottom of the particle bin (2-4) to fix the particle bin (2-4) in the outer needle clamping block (2-3), and the axis of the through hole of the particle bin (2-4) coincides with the axis of the through hole of the inner needle of the outer needle clamping block (2-3); When the particle bin (2-4) is fixed to the outer needle clamping block (2-3) through the first concave pit, the axis of the first through hole of the particle bin (2-4) coincides with the axis of the inner needle through hole of the outer needle clamping block (2-3), which is the first working position of the outer needle assembly (2); when the particle bin (2-4) is fixed to the outer needle clamping block (2-3) through the second concave pit, the axis of the second through hole of the particle bin (2-4) coincides with the axis of the inner needle through hole of the outer needle clamping block (2-3), which is the second working position of the outer needle assembly (2); The first through hole of the particle bin (2-4) is an independent through hole, the second through hole contains radioactive particles, and the size of the first through hole is larger than that of the second through hole.

5. The robot particle implantation actuator capable of rapid needle exchange according to claim 1, characterized in that: The sensor assembly (5) comprises a camera mounting member (5-1), a camera (5-2), a distance measuring sensor (5-3), a laser mounting member (5-4), a first laser (5-5), a second laser (5-6) and a needle mounting block (5-7); The first laser (5-5) and the second laser (5-6) are arranged parallel to the needle axis of the outer needle (2-1) of the cannula and fixedly installed in the straight hole of the laser mounting component (5-4), and the laser axis and the needle axis axis form an isosceles triangle layout with the needle axis as the vertex; The laser lines emitted by the first laser (5-5) and the second laser (5-6) are in a straight line, the straight laser lines cross vertically, and the intersection line is the axis of the needle shaft; the vertically crossed laser beams form an intersection point on the skin surface, and the intersection point is located on the axis of the needle shaft; The needle support sleeve (2-2) in the outer needle assembly (2) is fixedly mounted in a semicircular hole of the needle support mounting block (5-7) to ensure that the intersection line of the first laser (5-5) and the second laser (5-6) coincides with the needle axis; The camera (5-2) is fixedly mounted on the front end surface of the frame (7-1) via a camera mounting member (5-1), and presents an image of the positional relationship between the puncture needle and the laser intersection; The distance measuring sensor (5-3) is fixedly mounted on the front end of the laser mounting component (5-4) to measure the distance from the front end surface of the actuator to the skin surface.

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